1 package org
.usfirst
.frc
.team3501
.robot
.commands
.climber
;
3 import org
.usfirst
.frc
.team3501
.robot
.Robot
;
5 import edu
.wpi
.first
.wpilibj
.command
.Command
;
8 * This command will run the winch motor continuously until the button
9 * triggering it is released.
11 * pre-condition: This command must be run by a button in OI. The robot must be
12 * attached to the rope.
14 * post-condition: Winch motor set to a specified speed.
17 * value range is from -1 to 1
19 * @author shivanighanta
22 public class RunWinchContinuous
extends Command
{
23 private double motorVal
;
29 public RunWinchContinuous(double motorVal
) {
30 requires(Robot
.getClimber());
31 this.motorVal
= motorVal
;
35 protected void initialize() {
36 Robot
.getClimber().setMotorValue(motorVal
);
41 protected void execute() {
46 protected boolean isFinished() {
47 return !Robot
.getOI().toggleWinch
.get();
51 protected void end() {
52 Robot
.getClimber().stop();
56 protected void interrupted() {